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removed print statements

release/4.3a0
Frank Dellaert 2010-01-09 02:37:58 +00:00
parent 5fbb820341
commit cc358fb2ce
1 changed files with 6 additions and 12 deletions
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18
cpp/GaussianBayesNet.cpp
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@ -64,18 +64,14 @@ VectorConfig optimize(const GaussianBayesNet& bn)
/** solve each node in turn in topological sort order (parents first)*/ /** solve each node in turn in topological sort order (parents first)*/
BOOST_REVERSE_FOREACH(GaussianConditional::shared_ptr cg, bn) { BOOST_REVERSE_FOREACH(GaussianConditional::shared_ptr cg, bn) {
cg->print();
result.print();
Vector x = cg->solve(result); // Solve for that variable Vector x = cg->solve(result); // Solve for that variable
result.insert(cg->key(),x); // store result in partial solution result.insert(cg->key(),x); // store result in partial solution
} }
return result; return result;
} }
/* /* ************************************************************************* */
* Backsubstitute using GaussianBayesNet // (R*x)./sigmas = y by solving x=inv(R)*(y.*sigmas)
* (R*x)./sigmas = y by solving x=inv(R)*(y.*sigmas)
*/
VectorConfig backSubstitute(const GaussianBayesNet& bn, const VectorConfig& y) { VectorConfig backSubstitute(const GaussianBayesNet& bn, const VectorConfig& y) {
VectorConfig x; VectorConfig x;
/** solve each node in turn in topological sort order (parents first)*/ /** solve each node in turn in topological sort order (parents first)*/
@ -96,12 +92,10 @@ VectorConfig backSubstitute(const GaussianBayesNet& bn, const VectorConfig& y) {
return x; return x;
} }
/* /* ************************************************************************* */
* Transpose Backsubstitute using GaussianBayesNet // gy=inv(L)*gx by solving L*gy=gx.
* gy=inv(L)*gx by solving L*gy=gx. // gy=inv(R'*inv(Sigma))*gx
* gy=inv(R'*inv(Sigma))*gx // gz'*R'=gx', gy = gz.*sigmas
* gz'*R'=gx', gy = gz.*sigmas
*/
VectorConfig backSubstituteTranspose(const GaussianBayesNet& bn, VectorConfig backSubstituteTranspose(const GaussianBayesNet& bn,
const VectorConfig& gx) { const VectorConfig& gx) {